Guoquan Huang, Anastasios I. Mourikis, Stergios I. Roumeliotis. An observability-constrained sliding window filter for SLAM. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011. pages 65-72, IEEE, 2011. [doi]
Abstract is missing.